IBA: Intelligent Bug Algorithm – A Novel Strategy to Navigate Mobile Robots Autonomously

Zohaib, Muhammad; Pasha, Syed Mustafa; Javaid, Nadeem; Iqbal, Jamshed

doi:10.1007/978-3-319-10987-9_27

Cited by 30 publications

(16 citation statements)

References 9 publications

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“…It also allows the robot to decide the most suitable way to move toward the goal [12]. The robot can compute the new path [260] from its departure point (x 1 , y 1 ) to the destination point (x 2 , y 2 ) using two equations to find the slope m and y-intercept c.…”

Section: ) Bug Algorithmmentioning

confidence: 99%

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Critical Design and Control Issues of Indoor Autonomous Mobile Robots: A Review

et al. 2021

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Robots that can move autonomously and can make intelligent decisions by perceiving their environments and surrounding objects are known as autonomous mobile robots. Such robots have rapidly moved from laboratories to automated industries to fill a variety of roles in our lives, homes, offices, hospitals, industries, and even on the streets. The interest in mobile robots is growing rapidly, prompting an enormous amount of research over the last 30 years, on critical factors of mobile robots such as locomotion, perception, localization, mapping, ego-motion tracking, and dynamic navigation. This article surveys these essential factors of autonomous mobile robots in terms of mathematical modeling, control issues, and challenging factors. Brief discussions are provided on the fundamentals of these technologies, popular algorithms in comprehensive mode, future challenges, and promising directions to guide the construction of an autonomous mobile robot with high accuracy and effectiveness. Since it is difficult to find complete coverage of those topics in a single location, this article provides a guideline for researchers entering the field or for innovators in the mobile robotics sector. The paper also examines open challenges in indoor mobile robots and identifies potential futures for autonomous mobile robots.

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Section: ) Bug Algorithmmentioning

confidence: 99%

“…However, it only leaves when it can move in the direction of the goal, as the trajectories are shown in Figure 18. IBA [255] is the improved Bug algorithm but it can also be inefficient in certain situations. There are many more Bug algorithms such as Tangent Bug [261], I-Bug [262] etc.…”

Section: ) Bug Algorithmmentioning

confidence: 99%

Critical Design and Control Issues of Indoor Autonomous Mobile Robots: A Review

et al. 2021

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“…It uses a corridor map and one force to restrict the motion to collision-free paths. The Bugalgorithm [16] has three versions, i.e., Bug-1 algorithm, Bug-2 algorithm, and Distance-Bug algorithm. They all contain a move-to-goal mode and a collision avoidance mode.…”

Section: Related Workmentioning

confidence: 99%

Motion Plan of Maritime Autonomous Surface Ships by Dynamic Programming for Collision Avoidance and Speed Optimization

Geng

Wang

et al. 2019

Sensors

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Maritime Autonomous Surface Ships (MASS) with advanced guidance, navigation, and control capabilities have attracted great attention in recent years. Sailing safely and efficiently are critical requirements for autonomous control of MASS. The MASS utilizes the information collected by the radar, camera, and Autonomous Identification System (AIS) with which it is equipped. This paper investigates the problem of optimal motion planning for MASS, so it can accomplish its sailing task early and safely when it sails together with other conventional ships. We develop velocity obstacle models for both dynamic and static obstacles to represent the potential conflict-free region with other objects. A greedy interval-based motion-planning algorithm is proposed based on the Velocity Obstacle (VO) model, and we show that the greedy approach may fail to avoid collisions in the successive intervals. A way-blocking metric is proposed to evaluate the risk of collision to improve the greedy algorithm. Then, by assuming constant velocities of the surrounding ships, a novel Dynamic Programming (DP) method is proposed to generate the optimal multiple interval motion plan for MASS. These proposed algorithms are verified by extensive simulations, which show that the DP algorithm provides the lowest collision rate overall and better sailing efficiency than the greedy approaches.

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“…The latest avenues of research in mobile robots address their operational performance with constraints that need to be explored in the renewable energy context. Examples of these avenues include; navigation [233]- [235], path planning [236], collision detection [237], [238], slip avoidance [239], [240] etc.…”

Section: Challenges and Opportunities Of Robotics In Renewable Energy Sectormentioning

confidence: 99%

Robotics Inspired Renewable Energy Developments: Prospective Opportunities and Challenges

et al. 2019

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The domain of Robotics is a good partner of renewable energy and is becoming critical to the sustainability and survival of the energy industry. The multi-disciplinary nature of robots offers precision, repeatability, reliability, productivity and intelligence, thus rendering their services in diversified tasks ranging from manufacturing, assembling, and installation to inspection and maintenance of renewable resources. This paper explores applications of real robots in four feasible renewable energy domains; solar, wind, hydro, and biological setups. In each case, existing state-of-the-art innovative robotic systems are investigated that have the potential to create a difference in the corresponding renewable sector in terms of reduced set-up time, lesser cost, improved quality, enhanced productivity and exceptional competitiveness in the global market. Instrumental opportunities and challenges of robot deployment in the renewable sector are also discussed with a brief case study of Saudi Arabia. It is expected that the wider dissemination of the instrumental role of robotics in renewable energy will contribute to further developments and stimulate more collaborations and partnerships between professionals of robotics and energy communities.INDEX TERMS Applied robotics, automation in renewable energy, mobile robots, robotic manipulators, solar PV module, wind turbines.

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IBA: Intelligent Bug Algorithm – A Novel Strategy to Navigate Mobile Robots Autonomously

Cited by 30 publications

References 9 publications

Critical Design and Control Issues of Indoor Autonomous Mobile Robots: A Review

Critical Design and Control Issues of Indoor Autonomous Mobile Robots: A Review

Motion Plan of Maritime Autonomous Surface Ships by Dynamic Programming for Collision Avoidance and Speed Optimization

Robotics Inspired Renewable Energy Developments: Prospective Opportunities and Challenges

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